Object SLAM based indoor localisation in cluttered environment.

Advisor: Dr. Sujit PB, Multi Robot Autonomy Lab Undergraduate researcher at the Multi-Robot Autonomy(M00N) Lab working on the topic of Object SLAM and sensor fusion based indoor localisation in cluttered environment.

Worked with Prof. Sujit PB(IISER-B) and Prof. Madhava Krishna(IIIT-H) to develop a novel monocular 2D Object Aware SLAM for navigation in indoor environments. Used meta-learning based approach alongside an EKF to fuse the values from the GNSS and the IMU, we were able to show that we can better the results of classical localization methods without significant computational resources.

M00N Lab Demo

Currently, I am also leading the navigation stack for the team competing at the MBZIRC. The main problem statement is to localize and search for a target using a heterogeneous swarm comprising of a USV, multiple UAVs and fixed wings in a GNSS denied environment. We are extrapolating the results obtained in the previously developed navigation pipeline for the swarm. To know more about the MBZIRC project, please check out the MBZIRC section.

Paper under preparation.